Method and device for determining planting position after turning of planting machine and planting machine

Abstract

The invention provides a method and device for determining a planting position after turning of a planting machine and the planting machine, and belongs to the technical field of agricultural machines. The method is applied to the planting machinery, the planting machinery comprises a vehicle body and a working part, the working part is located behind the vehicle body, and the working part comprises a planting mechanism used for planting crops; the method comprises the following steps: after a vehicle body finishes turning and before a working part is controlled to carry out planting operation, acquiring an actual driving distance of the planting machine in real time; whether the actual driving distance is not smaller than a theoretical driving distance or not is judged, and the theoretical driving distance is the distance between the position, perpendicular to the ground, of the planting mechanism and the position, perpendicular to the ground, of the planting mechanism when planting is interrupted before turning of the vehicle body and turning of the vehicle body is completed; and under the condition that the actual driving distance is not smaller than the theoretical driving distance, determining the planting position after turning. The planting position can be accurately determined, implementation is simpler and more convenient, and the accuracy and reliability of the automatic operation system are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and in particular to a method for determining a planting position after a planting machinery turns, a device for determining a planting position after a planting machinery turns, a planting machinery, a machine-readable storage medium and a processor. Background Art

[0002] The inevitable trend of agricultural mechanization development is intelligence. Automatic operation of agricultural machinery is an important part of intelligent agricultural machinery and an inevitable requirement for the development of intelligent agricultural machinery.

[0003] Among them, planting machinery is mechanical equipment used for crop planting operations, such as rice transplanters, rice seedling throwers, etc. When the planting machinery is in operation, after each straight-line planting operation is completed, it is necessary to control the planting machinery to turn. After the turn is completed, when the next straight-line planting operation is performed, it is necessary to observe whether the working part has reached the place where the action ended before the last turn to keep the crops aligned longitudinally.

[0004] Take the rice transplanter as an example. During the field operation, each time the vehicle reaches the boundary of the field after completing a straight-line transplanting stroke, it is necessary to control the vehicle to turn and raise the working part while cutting off the transplanting power output to prevent the working part from hitting the ridge or damaging the planted seedlings. After the turn is completed, the next straight-line transplanting operation will be carried out. The vehicle needs to be operated again to lower the working part. It is necessary to observe with the naked eye that the working part reaches the place where the transplanting ended before the last turn, connect the transplanting power output, and let the working part work to transplant the seedlings to keep the transplanting aligned longitudinally. In this cycle, each time the operation reaches the boundary of the field and completes a vehicle turn, the operator repeats the transplanting operation procedure.

[0005] In order to reduce manpower and vision costs, improve work efficiency, and reduce the number of manual operation steps, it is necessary to realize automatic control of the turning of planting machinery. In the prior art, the rotation speed of the planting machinery transmission shaft is detected, and then the spacing and number of crops in the direction orthogonal to the driving direction of the planting machinery body are used to determine whether the body has reached the position where the planting starts again. This method has the problems of difficult installation of the transmission shaft rotation speed sensor, difficult monitoring of the spacing and number of seedlings in the direction orthogonal to the driving direction, and cumbersome monitoring means. Summary of the invention

[0006] The purpose of the embodiments of the present invention is to provide a method for determining the planting position after a planting machinery turns, a device for determining the planting position after a planting machinery turns, a planting machinery, a machine-readable storage medium and a processor. The method for determining the planting position after a planting machinery turns does not require the installation of a transmission shaft rotation speed sensor, nor does it require monitoring the spacing and quantity of crops in a direction orthogonal to the driving direction, which greatly reduces the monitoring steps and makes implementation simpler and more convenient.

[0007] In order to achieve the above-mentioned object, the first aspect of the present application provides a method for determining a planting position after a planting machine turns, which is applied to a planting machine, wherein the planting machine includes a vehicle body and a working part, the working part is located behind the vehicle body, the working part includes a planting mechanism, and the planting mechanism is used to plant crops; the method for determining a planting position after a planting machine turns includes:

[0008] After the vehicle body completes turning and before the working part is controlled to perform planting operation, the actual travel distance of the planting machine is obtained in real time;

[0009] Determining whether the actual driving distance is not less than a theoretical driving distance, the theoretical driving distance being the distance between the position of the planting mechanism perpendicular to the ground when the planting is interrupted before the vehicle body turns and the position of the planting mechanism perpendicular to the ground when the vehicle body completes the turn;

[0010] When it is determined that the actual driving distance is not less than the theoretical driving distance, the planting position after turning is determined.

[0011] In the embodiment of the present application, after the vehicle body completes turning and before the working part is controlled to perform the planting operation, the actual travel distance of the planting machine is obtained in real time, including:

[0012] After the vehicle body completes turning and before the working part is controlled to perform planting operation, timing is started to obtain actual driving time;

[0013] Acquire the travel speed of the vehicle in real time;

[0014] Based on the actual driving time and the driving speed of the vehicle body, the actual driving distance of the planting machinery is calculated.

[0015] In the embodiment of the present application, the actual driving distance of the planting machine is calculated based on the actual driving time and the driving speed of the vehicle body, including:

[0016] Calculate an initial driving distance based on the actual driving time and the driving speed of the vehicle body;

[0017] Based on the driving speed of the vehicle body and a preset compensation function, the initial driving distance is compensated to obtain the actual driving distance of the planting machinery.

[0018] In the embodiment of the present application, the initial driving distance is compensated based on the driving speed of the vehicle body and a preset compensation function to obtain the actual driving distance of the planting machine, including:

[0019] Substituting the driving speed of the vehicle into a preset compensation function to calculate a compensation coefficient;

[0020] The compensation coefficient is multiplied by the initial driving distance to calculate the actual driving distance of the planting machinery.

[0021] In the embodiment of the present application, the preset compensation function is:

[0022] rate(v)=Δv x *v 2 +Δv y *v+Δv z +Δt1+Δs1,

[0023] Where Δv x , Δv y , Δv z They respectively represent the compensation values ​​corresponding to different orders, Δt1 is the system delay error, Δs1 is the error of the longitudinal movement of the rear wheel fulcrum caused by the amplitude of the steering wheel turning when the planting machine turns, v is the driving speed of the vehicle body, and rate(v) is the compensation coefficient.

[0024] In the embodiment of the present application, after determining the planting position after turning, the method for determining the planting position after turning of the planting machine further includes:

[0025] The working part is controlled to perform planting operation.

[0026] A second aspect of the present application provides a planting position determination device after a planting machine turns, which is applied to a planting machine, wherein the planting machine comprises a vehicle body and a working part, wherein the working part is located behind the vehicle body, and wherein the working part comprises a planting mechanism, and the planting mechanism is used to plant crops; the planting position determination device after a planting machine turns comprises:

[0027] An acquisition module, used for acquiring the actual travel distance of the planting machine in real time after the vehicle body completes turning and before the working part is controlled to perform planting operation;

[0028] a judgment module, used for judging whether the actual driving distance is not less than a theoretical driving distance, wherein the theoretical driving distance is the distance between the position of the planting mechanism perpendicular to the ground when the planting is interrupted before the vehicle body turns and the position of the planting mechanism perpendicular to the ground when the vehicle body turns;

[0029] The determination module is used to determine the planting position after turning when it is determined that the actual driving distance is not less than the theoretical driving distance.

[0030] A third aspect of the present application provides a planting machine, which uses the above-mentioned method for determining the planting position after the planting machine turns to determine the planting position.

[0031] A fourth aspect of the present application provides an electronic device, the electronic device comprising:

[0032] at least one processor;

[0033] a memory connected to the at least one processor;

[0034] The memory stores instructions that can be executed by the at least one processor, and the at least one processor implements the above-mentioned method for determining the planting position after the planting machinery turns by executing the instructions stored in the memory.

[0035] A fifth aspect of the present application provides a machine-readable storage medium having instructions stored thereon, which, when executed by a processor, configures the processor to execute the above-mentioned method for determining a planting position after a planting machine turns.

[0036] Through the above technical scheme, after the vehicle body turns and before the working part is controlled to perform the planting operation, the actual driving distance of the planting machine is obtained in real time; it is judged whether the actual driving distance is not less than the theoretical driving distance, and the theoretical driving distance is the distance between the position of the planting mechanism perpendicular to the ground when the planting is interrupted before the vehicle body turns and the position of the planting mechanism perpendicular to the ground when the vehicle body turns; when it is determined that the actual driving distance is not less than the theoretical driving distance, the planting position after the turn is determined. After turning, it is judged whether the actual driving distance is not less than the theoretical driving distance, and when the actual driving distance is not less than the theoretical driving distance, the planting position after the turn is determined, the planting position can be accurately determined so that the planting position is aligned with the planting position before the turn. Compared with the method in the prior art that detects the rotation speed of the transmission shaft and then judges whether the vehicle body has reached the position where the planting starts again according to the spacing and number of the seedlings in the direction orthogonal to the vehicle body driving direction, this method does not need to install a transmission shaft rotation speed sensor, nor does it need to monitor the spacing and number of crops in the direction orthogonal to the driving direction, which greatly reduces the monitoring steps, is simpler and more convenient to implement, and improves the accuracy and reliability of the automatic operation system of the planting machinery.

[0037] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. In the accompanying drawings:

[0039] Figure 1 A schematic diagram of a process of determining a planting position after a planting machine turns according to an embodiment of the present application is shown;

[0040] Figure 2 The schematic diagram shows an assembly diagram of a multi-sensor controller according to an embodiment of the present application;

[0041] Figure 3 The schematic diagram of the working principle according to the embodiment of the present application is schematically shown;

[0042] Figure 4 A schematic diagram of the structure of a device for determining a planting position after a planting machine turns according to an embodiment of the present application is shown;

[0043] Figure 5 The internal structure of a computer device according to an embodiment of the present application is schematically shown.

[0044] Description of Reference Numerals

[0045] 410 - acquisition module; 420 - judgment module; 430 - determination module; A01 - processor; A02 - network interface; A03 - internal memory; A04 - display screen; A05 - input device; A06 - non-volatile storage medium; B01 - operating system; B02 - computer program. DETAILED DESCRIPTION

[0046] The specific implementation of the embodiment of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the embodiment of the present invention, and is not used to limit the embodiment of the present invention.

[0047] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0048] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0049] Please see Figure 1 , Figure 1 A flow chart of a method for determining a planting position after a planting machine turns according to an embodiment of the present application is schematically shown. This embodiment provides a method for determining a planting position after a planting machine turns, which is applied to a planting machine, specifically an intelligent planting machine, and the method may be executed by a controller in the planting machine. The planting machine may start timing after turning, until the distance traveled during the timing process at the driving speed is greater than or equal to the total driving distance, the timer ends, and the planting position of the planting machine after turning is determined. The planting machine may be a rice transplanter, a rice throwing machine, etc. For the convenience of explaining the scheme, this embodiment mainly takes the planting machine as a rice transplanter as an example. It should be noted that the body controller mentioned in this embodiment is the whole vehicle controller.

[0050] This embodiment provides a method for determining a planting position after a planting machine turns, which is applied to the planting machine, wherein the planting machine includes a vehicle body and a working part, the working part is located behind the vehicle body, the working part includes a planting mechanism, and the planting mechanism is used to plant crops; the method for determining a planting position after a planting machine turns includes the following steps:

[0051] Step 210: After the vehicle body completes turning and before the working part is controlled to perform planting operation, the actual travel distance of the planting machine is obtained in real time;

[0052] In this embodiment, the vehicle body, as the basic part of the planting machinery, bears the weight of the entire equipment and provides stable support for the working part. At the same time, the vehicle body is equipped with a power system and a walking device, which can move freely in the farmland and adapt to different terrains and working environments. A control system is provided on the vehicle body, and the operator can control the driving direction, speed and operation of the working part of the planting machinery through components such as a steering wheel, a joystick, and pedals. Different types of planting mechanisms are suitable for different crops and planting requirements. Taking the planting machinery as an example, the working part is the planting part, and the planting mechanism is the planting mechanism. The above-mentioned vehicle body turning completion refers to when the vehicle body completes the U-turn and adjustment is completed, specifically, it can be when the whole vehicle turns around and when the steering wheel is returned to the center. After the vehicle body turns, the planting machinery continues to travel and starts to record the driving distance of the planting machinery to obtain the actual driving distance of the planting machinery.

[0053] In some embodiments, in order to obtain an accurate actual driving distance, after the vehicle body completes turning and before the working part is controlled to perform a planting operation, the actual driving distance of the planting machine is obtained in real time, including the following steps:

[0054] First, after the vehicle body completes turning and before the working part is controlled to perform planting operation, timing is started to obtain actual driving time;

[0055] In this embodiment, the timing can be performed by a controller in the planting machine, specifically, by a timer inside a vehicle control unit (VCU). Taking the planting machine as an example, after the vehicle body turns, when the implanting part starts to descend, the timer inside the vehicle control unit VCU starts timing.

[0056] Then, the running speed of the vehicle body is obtained in real time;

[0057] In this embodiment, the driving speed of the vehicle body may refer to the average speed of the vehicle, which may be obtained by installing sensors on the driving wheels of the vehicle body. The driving wheel speed may be detected by sensors on the driving wheels, and the sensors may detect the number of rotations of the driving wheels and convert them into the wheel speed of the driving wheels through the gear ratio and the tire radius. The vehicle body may have multiple driving wheels, for example, two on the left and right, and the driving angular velocity may be calculated based on the speeds of the left and right driving wheels. For example: please refer to Figure 2 , Figure 2 A schematic diagram of the assembly of a multi-sensor controller according to an embodiment of the present application is shown. In the figure, the left wheel speed detection sensor detects the number of rotations of the left output wheel of the rear axle, which is converted into the wheel speed Vleft of the left rear wheel through the gear ratio and the tire radius. The right wheel speed detection sensor detects the number of rotations of the right output wheel of the rear axle, which is converted into the wheel speed Vright of the left rear wheel through the gear ratio and the tire radius. According to the wheel speeds of the left and right wheels, the driving angular velocity V=(Vleft+Vright) / 2 of the whole vehicle can be calculated, which is the driving speed.

[0058] Finally, based on the actual driving time and the driving speed of the vehicle body, the actual driving distance of the planting machinery is calculated.

[0059] In this embodiment, after the travel speed of the vehicle body is obtained, the displacement can be calculated using the speed and time, that is, the actual travel distance of the planting machine can be obtained.

[0060] By starting the timing after the vehicle body completes the turn and before the working part is controlled to perform the planting operation, the driving speed of the vehicle body is obtained in real time, and then the actual driving distance of the planting machine can be accurately obtained in real time. The driving speed of the vehicle body can be measured by the left and right wheel speed detection sensors, which are easy to install and implement.

[0061] Taking into account the situation that the planting machinery has multiple speed gears, the corresponding speeds are also different, that is, there is a detection error Δv between the left and right wheel speed detection sensors. At the same time, there is a delay error Δt when the controller of the planting machinery sends instructions to the execution working part to descend and the execution working part clutch to engage. When the whole vehicle turns, the steering wheel turning amplitude causes the longitudinal movement error ΔS of the rear wheel fulcrum. These three errors will affect the alignment effect of planting after turning. Therefore, it is necessary to compensate for the driving distance.

[0062] In some embodiments, the actual driving distance of the planting machine is calculated based on the actual driving time and the driving speed of the vehicle body, comprising the following steps:

[0063] The first step is to calculate an initial driving distance based on the actual driving time and the driving speed of the vehicle body;

[0064] The second step is to compensate the initial driving distance based on the driving speed of the vehicle body and a preset compensation function to obtain the actual driving distance of the planting machinery.

[0065] The above-mentioned method of compensating the initial driving distance based on the driving speed of the vehicle body and a preset compensation function to obtain the actual driving distance of the planting machine includes:

[0066] Firstly, the driving speed of the vehicle body is substituted into a preset compensation function to calculate a compensation coefficient;

[0067] Then, the compensation coefficient is multiplied by the initial driving distance to calculate the actual driving distance of the planting machinery.

[0068] Wherein, the preset compensation function is expressed as:

[0069] rate(v)=Δv x *v 2 +Δv y *v+Δv z +Δt1+Δs1,

[0070] Where Δv x , Δv y , Δv z They respectively represent the compensation values ​​corresponding to different orders, Δt1 is the system delay error, Δs1 is the error of the longitudinal movement of the rear wheel fulcrum caused by the amplitude of the steering wheel turning when the planting machine turns, v is the driving speed of the vehicle body, and rate(v) is the compensation coefficient.

[0071] In this embodiment, since Δt is a system error and will not be affected by external factors, Δt is a constant Δt1, Δv will affect the error effect as the speed changes, and ΔS will affect the error effect as the turning direction angle increases. Experiments have shown that the effect of ΔS error on the alignment effect of transplanting is approximately a constant Δs1, that is, Δs1 is a constant. Δv=Δv x *v 2 +Δv y *v+Δv z , Δv can be determined by determining the compensation coefficient corresponding to the speed of each speed gear through several sets of tests x , Δv y , Δv z For example, if there are seven speed levels, seven sets of speed data can be measured respectively, each set of speed data includes actual speed and error speed. Then substitute the seven sets of speed data into the formula of Δv, and calculate each coefficient through the data obtained from these seven sets of experiments, and then get Δv x , Δv y , Δv z The value of .

[0072] The initial driving distance is compensated by the driving speed of the vehicle body and the preset compensation function, and the compensation function is used to offset the influence of various errors, so that a more accurate actual driving distance can be obtained, which is helpful to accurately determine the planting position after the planting machine turns. The compensation function can achieve the effect of planting alignment at different speeds.

[0073] Step 220: determining whether the actual driving distance is not less than a theoretical driving distance, wherein the theoretical driving distance is the distance between the position of the planting mechanism perpendicular to the ground when the planting is interrupted before the vehicle body turns and the position of the planting mechanism perpendicular to the ground when the vehicle body turns;

[0074] In this embodiment, the above judgment can be to determine whether the difference between the theoretical driving distance and the actual driving distance is less than or equal to a preset value. The above preset value can be a very small number. Because the distance is a floating point number, it can usually be less than a very small floating point number as a judgment condition, such as 0.01. It can be set specifically according to the implementation situation, and this embodiment does not limit it.

[0075] Taking the planting machine as an example, when the planting part starts to descend, the internal timer of the body controller VCU starts timing until the distance traveled by the driving speed V during the timing process time T is greater than or equal to the total driving distance S. The timer ends and the VCU controls the planting clutch to engage. Whether the actual driving distance is not less than the theoretical driving distance can be expressed as: SV*T<=0.01.

[0076] Accordingly, in the above embodiment, taking into account the influence of errors, the compensation coefficient is calculated through the compensation function, and whether the actual driving distance is not less than the theoretical driving distance can be expressed as: S-rate(v)*V*T<=0.01. Wherein S represents the theoretical walking distance, that is, the theoretical driving distance; rate(v) is the compensation coefficient calculated by the compensation function of the average driving speed at that time; v is the average speed, that is, the driving speed of the vehicle body; T is the process time from the start to the end of the timer. The compensation function is used to compensate for the errors caused by speed and other factors during driving. When the VCU calculates that the above judgment expression is met, the VCU controls the planting clutch to engage. At this time, the transplanting alignment can be met, and the error can reach ±10cm in the longitudinal direction.

[0077] The calculation process of the theoretical driving distance is as follows: based on the distance between the center position of the rear wheel of the vehicle body and the position of the planting mechanism perpendicular to the ground, the theoretical driving distance is calculated.

[0078] In this embodiment, the theoretical driving distance is twice the distance between the center position of the rear wheel of the vehicle body and the position of the planting mechanism perpendicular to the ground. Figure 3 , Figure 3 A schematic diagram of the working principle according to an embodiment of the present application is schematically shown. Taking the planting machinery as a rice transplanter as an example, when the whole vehicle needs to make a U-turn on the ridge of the field, the front wheel makes a large turn, and the planting interruption position is recorded as L1 at this time. If the steering wheel turns right, the turning trajectory of the whole vehicle is based on the right rear wheel as the fulcrum, and the whole vehicle is turned around. When the steering wheel is returned to the center, the planting part will automatically drop. At this time, the position of the planting mechanism perpendicular to the ground at the moment the planting part drops is recorded as L2. When the vehicle body completes the U-turn and adjustment, the center axis of the rear wheel should be in a straight line with the center axis of the rear wheel before the U-turn. At this time, to complete the planting position alignment, the whole vehicle should move forward a distance S between L1 and L2, determined by Figure 2 As can be seen from the schematic diagram of the operating principle, the distance between L1 and L2 is twice the distance M from the center position of the rear wheel to the planting mechanism of the planting part perpendicular to the ground, that is, S=2*M.

[0079] The theoretical driving distance can be easily calculated by the distance between the rear wheel center position of the vehicle body and the position of the planting mechanism perpendicular to the ground. The theoretical driving distance is a constant value, which reduces the amount of calculation and helps to quickly determine the planting position after turning.

[0080] Step 230: When it is determined that the actual driving distance is not less than the theoretical driving distance, the planting position after turning is determined.

[0081] In this embodiment, if the actual driving distance is not less than the theoretical driving distance, that is, the actual driving distance exceeds the theoretical driving distance, it means that the vehicle has been aligned, and the planting position after turning can be determined as the current actual driving position. If the actual driving distance is less than the theoretical driving distance, the vehicle continues to drive.

[0082] In the above implementation process, after the vehicle body turns and before the working part is controlled to perform the planting operation, the actual driving distance of the planting machine is obtained in real time; it is judged whether the actual driving distance is not less than the theoretical driving distance, and the theoretical driving distance is the distance between the position of the planting mechanism perpendicular to the ground when the planting is interrupted before the vehicle body turns and the position of the planting mechanism perpendicular to the ground when the vehicle body turns; when it is determined that the actual driving distance is not less than the theoretical driving distance, the planting position after turning is determined. After turning, it is judged whether the actual driving distance is not less than the theoretical driving distance, and when the actual driving distance is not less than the theoretical driving distance, the planting position after turning is determined, so that the planting position can be accurately determined, so that the planting position is aligned with the planting position before turning. Compared with the method in the prior art that detects the rotation speed of the transmission shaft and then judges whether the vehicle body has reached the position where the planting starts again according to the spacing and number of the seedlings in the direction orthogonal to the driving direction of the vehicle body, this method does not need to install a transmission shaft rotation speed sensor, nor does it need to monitor the spacing and number of crops in the direction orthogonal to the driving direction, which greatly reduces the monitoring steps, is simpler and more convenient to implement, and improves the accuracy and reliability of the automatic operation system of the planting machinery. By compensating the driving distance through the compensation function, the influence of various errors can be offset, so that the operation effect of transplanting rice seedlings in alignment can be achieved at different speeds, which helps to accurately determine the planting position after the planting machinery turns.

[0083] In some embodiments, after determining the planting position after turning, the method for determining the planting position after turning of the planting machinery further includes: controlling the working part to perform the planting operation.

[0084] In the present embodiment, after determining the planting position after turning, the planting machine automatically controls the working part to perform the planting operation, or the third-party assisted driving system sends a working clutch engagement command to the planting machine, and the planting machine responds to the working clutch engagement command to control the working part to perform the planting operation. The above-mentioned control of the working part to perform the planting operation means that the alignment position has been determined after turning, and then planting begins. The specific control process is determined according to the design of the planting machine and belongs to the prior art, so it will not be repeated here. Taking the planting machine as a rice transplanter as an example, after obtaining the planting position after turning, the assisted driving controller of the third-party assisted driving system sends a working clutch engagement command to the body controller VCU of the rice transplanter, so that the working part automatically performs the planting operation.

[0085] It should be noted that the above-mentioned third-party assisted driving system can control the automatic turning operation of the planting machinery. Taking the planting machinery as a rice transplanter as an example, the assisted driving controller in the third-party assisted driving system can communicate with the body controller VCU of the rice transplanter through the (Controller Area Network, CAN) bus. When the third-party assisted driving system completes the planning of the operation path, before turning, the assisted driving controller sends a working part rising command to the body controller VCU, so that the working part automatically rises and records the coordinates at this time. After the U-turn is completed, the assisted driving controller sends a working part descending command to the body controller VCU, so that the working part automatically descends. When the vehicle drives to the coordinate position recorded in the turn, the assisted driving controller sends a working clutch engagement command to the body controller VCU, so that the working part automatically performs the planting operation. The automatic turning operation control of the third-party assisted driving system is completed.

[0086] By controlling the working part to perform the planting operation in response to the working clutch engagement command after obtaining the planting position after turning, the longitudinal alignment of the crops can be accurately controlled.

[0087] Figure 1 FIG. 1 is a flow chart of a method for determining a planting position after a planting machine turns in an embodiment. Figure 1 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 1 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0088] This embodiment provides a planting machine, which uses the above-mentioned method for determining the planting position after the planting machine turns to determine the planting position.

[0089] In this embodiment, the above-mentioned planting machinery can be agricultural planting machinery such as a rice transplanter and a rice throwing machine.

[0090] By judging whether the actual driving distance is not less than the theoretical driving distance after turning, and determining the planting position after turning when the actual driving distance is not less than the theoretical driving distance, the planting position can be accurately determined so that the planting position is aligned with the planting position before turning, thereby improving the accuracy and reliability of the automatic operation system of the planting machinery.

[0091] This embodiment provides a device for determining a planting position after a planting machine turns, which is applied to a planting machine, wherein the planting machine includes a vehicle body and a working part, wherein the working part is located behind the vehicle body, and wherein the working part includes a planting mechanism, and the planting mechanism is used to plant crops; the device for determining a planting position after a planting machine turns includes an acquisition module 410, a judgment module 420, and a determination module 430, wherein:

[0092] The acquisition module 410 is used to acquire the actual travel distance of the planting machine in real time after the vehicle body completes turning and before the working part is controlled to perform planting operation;

[0093] A judgment module 420 is used to judge whether the actual driving distance is not less than a theoretical driving distance, wherein the theoretical driving distance is the distance between the position of the planting mechanism perpendicular to the ground when the planting is interrupted before the vehicle body turns and the position of the planting mechanism perpendicular to the ground when the vehicle body turns;

[0094] The determination module 430 is used to determine the planting position after turning when it is determined that the actual driving distance is not less than the theoretical driving distance.

[0095] The device for determining the planting position after the planting machine turns includes a processor and a memory. The above-mentioned acquisition module 410, judgment module 420 and determination module 430 are all stored in the memory as program units, and the processor executes the above-mentioned program units stored in the memory to realize corresponding functions.

[0096] The processor includes a kernel, and the kernel calls the corresponding program unit from the memory. One or more kernels can be set, and the planting position is aligned with the planting position before the turn by adjusting the kernel parameters.

[0097] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0098] An embodiment of the present invention provides a machine-readable storage medium on which a program is stored. When the program is executed by a processor, the method for determining the planting position after the planting machine turns is implemented.

[0099] An embodiment of the present invention provides a processor, which is used to run a program, wherein the method for determining a planting position after a planting machine turns is executed when the program is run.

[0100] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 5As shown. The computer device includes a processor A01, a network interface A02, a display screen A04, an input device A05 and a memory (not shown in the figure) connected through a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A06. The non-volatile storage medium A06 stores an operating system B01 and a computer program B02. The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A06. The network interface A02 of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor A01, a method for determining the planting position after a planting machine turns is implemented. The display screen A04 of the computer device can be a liquid crystal display or an electronic ink display, and the input device A05 of the computer device can be a touch layer covered on the display screen, or a button, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0101] Those skilled in the art will understand that Figure 5 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0102] In one embodiment, the method and device for determining the planting position of the planting machine after turning provided in the present application can be implemented in the form of a computer program. The computer program can be used in the following manner: Figure 5 The computer device shown in the figure is run. The memory of the computer device can store various program modules constituting the method and device for determining the planting position after the planting machine turns, for example, Figure 4 The acquisition module 410, the judgment module 420 and the determination module 430 are shown. The computer program composed of various program modules enables the processor to execute the steps of the method for determining the planting position after the planting machine turns in various embodiments of the present application described in this specification.

[0103] Figure 5 The computer device shown can be Figure 4 The acquisition module 410 in the method and device for determining the planting position after the planting machine turns executes step 210. The computer device may execute step 220 through the judgment module 420. The computer device may execute step 230 through the determination module 430.

[0104] An embodiment of the present application provides an electronic device, the electronic device comprising: at least one processor; a memory connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the at least one processor implements the above-mentioned method for determining a planting position after a planting machine turns by executing the instructions stored in the memory, and is applied to a planting machine, wherein the planting machine comprises a vehicle body and a working part, the working part is located at the rear of the vehicle body, the working part comprises a planting mechanism, and the planting mechanism is used to plant crops; when the processor executes the instructions, the following steps are implemented:

[0105] After the vehicle body completes turning and before the working part is controlled to perform planting operation, the actual travel distance of the planting machine is obtained in real time;

[0106] Determining whether the actual driving distance is not less than a theoretical driving distance, the theoretical driving distance being the distance between the position of the planting mechanism perpendicular to the ground when the planting is interrupted before the vehicle body turns and the position of the planting mechanism perpendicular to the ground when the vehicle body completes the turn;

[0107] When it is determined that the actual driving distance is not less than the theoretical driving distance, the planting position after turning is determined.

[0108] In one embodiment, after the vehicle body completes turning and before the working part is controlled to perform planting operation, the actual travel distance of the planting machine is obtained in real time, including:

[0109] After the vehicle body completes turning and before the working part is controlled to perform planting operation, timing is started to obtain actual driving time;

[0110] Acquire the travel speed of the vehicle in real time;

[0111] Based on the actual driving time and the driving speed of the vehicle body, the actual driving distance of the planting machinery is calculated.

[0112] In one embodiment, the actual driving distance of the planting machine is calculated based on the actual driving time and the driving speed of the vehicle body, including:

[0113] Calculate an initial driving distance based on the actual driving time and the driving speed of the vehicle body;

[0114] Based on the driving speed of the vehicle body and a preset compensation function, the initial driving distance is compensated to obtain the actual driving distance of the planting machinery.

[0115] In one embodiment, the initial driving distance is compensated based on the driving speed of the vehicle body and a preset compensation function to obtain the actual driving distance of the planting machine, including:

[0116] Substituting the driving speed of the vehicle into a preset compensation function to calculate a compensation coefficient;

[0117] The compensation coefficient is multiplied by the initial driving distance to calculate the actual driving distance of the planting machinery.

[0118] In one embodiment, the preset compensation function is:

[0119] rate(v)=Δv x *v 2 +Δv y *v+Δv z +Δt1+Δs1,

[0120] Where Δv x , Δv y , Δv z They respectively represent the compensation values ​​corresponding to different orders, Δt1 is the system delay error, Δs1 is the error of the longitudinal movement of the rear wheel fulcrum caused by the amplitude of the steering wheel turning when the planting machine turns, v is the driving speed of the vehicle body, and rate(v) is the compensation coefficient.

[0121] In one embodiment, after determining the planting position after turning, the method for determining the planting position after turning of the planting machine further includes:

[0122] The working part is controlled to perform planting operation.

[0123] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0124] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0125] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0126] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0127] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0128] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0129] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0130] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0131] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for determining a planting position after a planting machine turns, characterized in that: Applied to a planting machine, the planting machine comprises a vehicle body and a working part, the working part is located at the rear of the vehicle body, the working part comprises a planting mechanism, and the planting mechanism is used to plant crops; the method for determining the planting position of the planting machine after turning comprises: After the vehicle body completes turning and before the working part is controlled to perform planting operation, the actual travel distance of the planting machine is obtained in real time; Determining whether the actual driving distance is not less than a theoretical driving distance, the theoretical driving distance being the distance between the position of the planting mechanism perpendicular to the ground when the planting is interrupted before the vehicle body turns and the position of the planting mechanism perpendicular to the ground when the vehicle body completes the turn; When it is determined that the actual driving distance is not less than the theoretical driving distance, the planting position after turning is determined.

2. The method for determining the planting position after a planting machine turns according to claim 1, characterized in that: After the vehicle body completes turning and before the working part is controlled to perform planting operation, the actual travel distance of the planting machine is obtained in real time, including: After the vehicle body completes turning and before the working part is controlled to perform planting operation, timing is started to obtain actual driving time; Acquire the travel speed of the vehicle in real time; Based on the actual driving time and the driving speed of the vehicle body, the actual driving distance of the planting machinery is calculated.

3. The method for determining the planting position after a planting machine turns according to claim 2, characterized in that: The calculating the actual driving distance of the planting machine based on the actual driving time and the driving speed of the vehicle body comprises: Calculate an initial driving distance based on the actual driving time and the driving speed of the vehicle body; Based on the driving speed of the vehicle body and a preset compensation function, the initial driving distance is compensated to obtain the actual driving distance of the planting machinery.

4. The method for determining the planting position after a planting machine turns according to claim 3, characterized in that: The initial driving distance is compensated based on the driving speed of the vehicle body and a preset compensation function to obtain the actual driving distance of the planting machine, including: Substituting the driving speed of the vehicle into a preset compensation function to calculate a compensation coefficient; The compensation coefficient is multiplied by the initial driving distance to calculate the actual driving distance of the planting machinery.

5. The method for determining the planting position after a planting machine turns according to claim 3, characterized in that: The preset compensation function is: rate(v)=Δv x *v 2 +Δv y *v+Δv z +Δt1+Δs1, Where Δv x , Δv y , Δv z They respectively represent the compensation values ​​corresponding to different orders, Δt1 is the system delay error, Δs1 is the error of the longitudinal movement of the rear wheel fulcrum caused by the amplitude of the steering wheel turning when the planting machine turns, v is the driving speed of the vehicle body, and rate(v) is the compensation coefficient.

6. The method for determining the planting position after a planting machine turns according to claim 1, characterized in that: After determining the planting position after turning, the method for determining the planting position after turning of the planting machine further includes: The working part is controlled to perform planting operation.

7. A device for determining the planting position of a planting machine after turning, characterized in that: Applied to a planting machine, the planting machine comprises a vehicle body and a working part, the working part is located at the rear of the vehicle body, the working part comprises a planting mechanism, and the planting mechanism is used to plant crops; the planting position determination device after the planting machine turns comprises: An acquisition module, used for acquiring the actual travel distance of the planting machine in real time after the vehicle body completes turning and before the working part is controlled to perform planting operation; a judgment module, used for judging whether the actual driving distance is not less than a theoretical driving distance, wherein the theoretical driving distance is the distance between the position of the planting mechanism perpendicular to the ground when the planting is interrupted before the vehicle body turns and the position of the planting mechanism perpendicular to the ground when the vehicle body turns; The determination module is used to determine the planting position after turning when it is determined that the actual driving distance is not less than the theoretical driving distance.

8. A planting machine, characterized in that: The planting position is determined by using the method for determining the planting position after the planting machine turns as described in any one of claims 1 to 6.

9. An electronic device, characterized in that: The electronic device includes: at least one processor; a memory connected to the at least one processor; The memory stores instructions that can be executed by the at least one processor, and the at least one processor implements the method for determining the planting position after the planting machinery turns according to any one of claims 1 to 7 by executing the instructions stored in the memory.

10. A machine-readable storage medium having instructions stored thereon, characterized in that: When the instruction is executed by a processor, the processor is configured to execute the method for determining the planting position of a planting machine after turning according to any one of claims 1 to 7.

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